Development of Humanoid Robot and Biped Walking Based on Linear Inverted Pendulum Model

被引：0

作者：

Lu, Yanzheng ^{[1
]}

Lu, Zhiguo ^{[1
]}

Yu, Yongji ^{[1
]}

Zhao, Haibin ^{[1
]}

Zhang, Yichen ^{[1
]}

机构：

[1] Northeastern Univ, Inst Mechatron Engn, Shenyang, Liaoning, Peoples R China

来源：

2018 IEEE INTERNATIONAL CONFERENCE ON INTELLIGENCE AND SAFETY FOR ROBOTICS (ISR) | 2018年

基金：

中国国家自然科学基金;

关键词：

humanoid robot; kinematics; subcontroller; LIPM; biped walking;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper describes the exploration and development of a teen-size humanoid robot platform, from the design of the humanoid robot mechanism, the configuration of degrees of freedom, to the establishment of humanoid robot forward kinematic model and inverse kinematic model which is in closed-form. Using linear inverted pendulum model (LIPM) to make the robot achieve a stable walking after planning gait. We used inertial measurement unit (IMU) for measuring ZMP and the orientation of the trunk of the robot.

引用

页码：244 / 249

页数：6

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